JP5159994B1 - ロボット関節構造 - Google Patents

ロボット関節構造 Download PDF

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Publication number
JP5159994B1
JP5159994B1 JP2012543382A JP2012543382A JP5159994B1 JP 5159994 B1 JP5159994 B1 JP 5159994B1 JP 2012543382 A JP2012543382 A JP 2012543382A JP 2012543382 A JP2012543382 A JP 2012543382A JP 5159994 B1 JP5159994 B1 JP 5159994B1
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JP
Japan
Prior art keywords
wrist
hand
rotation
arm
cable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
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JP2012543382A
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English (en)
Japanese (ja)
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JPWO2013157143A1 (ja
Inventor
公人 虫上
陽夫 伊藤
圭輔 佐田尾
純二 武原
寿人 宇田
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
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Publication of JP5159994B1 publication Critical patent/JP5159994B1/ja
Publication of JPWO2013157143A1 publication Critical patent/JPWO2013157143A1/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2012543382A 2012-04-20 2012-04-20 ロボット関節構造 Active JP5159994B1 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/060775 WO2013157143A1 (ja) 2012-04-20 2012-04-20 ロボット関節構造

Publications (2)

Publication Number Publication Date
JP5159994B1 true JP5159994B1 (ja) 2013-03-13
JPWO2013157143A1 JPWO2013157143A1 (ja) 2015-12-21

Family

ID=48013574

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012543382A Active JP5159994B1 (ja) 2012-04-20 2012-04-20 ロボット関節構造

Country Status (6)

Country Link
US (1) US9278455B2 (zh)
JP (1) JP5159994B1 (zh)
CN (1) CN104245249B (zh)
DE (1) DE112012006256B4 (zh)
TW (1) TWI490098B (zh)
WO (1) WO2013157143A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3002091A1 (en) 2014-09-30 2016-04-06 Seiko Epson Corporation Robot
WO2022025453A1 (ko) * 2020-07-28 2022-02-03 삼성전자주식회사 로봇용 관절 장치

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104339365B (zh) * 2013-07-26 2017-04-12 株式会社安川电机 机器人及机器人的制造方法
JP5928416B2 (ja) 2013-07-26 2016-06-01 株式会社安川電機 ロボットおよびロボットの製造方法
US9527208B2 (en) * 2014-12-10 2016-12-27 F21, Llc System, method, and apparatus for refurbishment of robotically controlled devices
US10065308B2 (en) * 2014-12-19 2018-09-04 Kurion, Inc. Systems and methods for chain joint cable routing
JP6319128B2 (ja) * 2015-02-12 2018-05-09 トヨタ自動車株式会社 把持ロボット及び把持ロボットの制御方法
GB2541369B (en) * 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
JP6398905B2 (ja) * 2015-08-07 2018-10-03 株式会社安川電機 ロボット
CN105965536A (zh) * 2016-06-17 2016-09-28 奇瑞汽车股份有限公司 一种机器人手腕及机器人
JP2017226028A (ja) * 2016-06-20 2017-12-28 株式会社アイエイアイ 手首ユニットとロボット
CN106078794A (zh) * 2016-07-01 2016-11-09 济南时代试金试验机有限公司 工业机器人的中空手腕结构
WO2018100644A1 (ja) * 2016-11-29 2018-06-07 株式会社Ｆｕｊｉ 多関節ロボットアーム
CN106625646A (zh) * 2016-12-01 2017-05-10 哈工大机器人集团上海有限公司 一种用于机器人手臂的旋转摆动机构、机器人手臂及机器人
CN107738271A (zh) * 2017-10-13 2018-02-27 江苏捷帝机器人股份有限公司 一种设有观察窗的机器人关节臂主壳
CN107825462A (zh) * 2017-10-13 2018-03-23 江苏捷帝机器人股份有限公司 一种带有观察窗的机器人关节臂辅壳
CN107825463A (zh) * 2017-10-13 2018-03-23 江苏捷帝机器人股份有限公司 一种递进式机器人关节臂主壳
CN107856062A (zh) * 2017-10-13 2018-03-30 江苏捷帝机器人股份有限公司 一种递进式机器人关节臂辅壳
JP6592061B2 (ja) * 2017-11-02 2019-10-16 ファナック株式会社 ベルトの交換判定装置および交換判定方法
JP6810102B2 (ja) 2018-07-04 2021-01-06 ファナック株式会社 ロボットの手首構造
KR102525041B1 (ko) * 2018-08-06 2023-04-24 삼성전자주식회사 다관절 로봇의 케이블 가이드 장치
GB2579595A (en) * 2018-12-05 2020-07-01 Univ Plymouth Robotic arm
JP7537113B2 (ja) * 2020-03-26 2024-08-21 セイコーエプソン株式会社 ロボット
CN112405593B (zh) * 2020-11-06 2022-07-22 杭州萤石软件有限公司 用于机器人的模块化关节
CN113910291B (zh) * 2021-12-14 2022-03-08 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2591968B2 (ja) * 1987-12-28 1997-03-19 株式会社日立製作所 産業用ロボットの手首
JPH05131388A (ja) 1991-11-07 1993-05-28 Hitachi Ltd 工業用ロボツトの手首装置
JPH05318378A (ja) * 1992-05-21 1993-12-03 Fanuc Ltd 産業用ロボットの配線、配管処理装置
JP3465850B2 (ja) 1993-04-28 2003-11-10 株式会社安川電機 産業用ロボットの手首機構
JP2004090152A (ja) 2002-08-30 2004-03-25 Mitsubishi Heavy Ind Ltd ロボットの手首構造
JP2005014098A (ja) 2003-06-23 2005-01-20 Nachi Fujikoshi Corp 産業用ロボットの手首機構
SE0303539D0 (sv) * 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
JP5139042B2 (ja) 2007-11-21 2013-02-06 川崎重工業株式会社 ロボットの手首装置
TWM363374U (en) 2009-04-24 2009-08-21 li-yu Cai Structure of robotic arm
CN201996802U (zh) * 2011-03-06 2011-10-05 长春工业大学 四自由度仿人按摩机器人手臂

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3002091A1 (en) 2014-09-30 2016-04-06 Seiko Epson Corporation Robot
WO2022025453A1 (ko) * 2020-07-28 2022-02-03 삼성전자주식회사 로봇용 관절 장치

Also Published As

Publication number Publication date
WO2013157143A1 (ja) 2013-10-24
CN104245249B (zh) 2016-01-06
TWI490098B (zh) 2015-07-01
JPWO2013157143A1 (ja) 2015-12-21
CN104245249A (zh) 2014-12-24
DE112012006256B4 (de) 2015-11-19
US20150059511A1 (en) 2015-03-05
TW201343343A (zh) 2013-11-01
US9278455B2 (en) 2016-03-08
DE112012006256T5 (de) 2015-03-05

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